package management

pickup/pickup.lua

@@ -0,0 +1,321 @@
+_G.requireInjector()
+
+local Event        = require('event')
+local ChestAdapter = require('chestAdapter18')
+local Point        = require('point')
+local Socket       = require('socket')
+local Util         = require('util')
+
+local device     = _G.device
+local os         = _G.os
+local peripheral = _G.peripheral
+local printError = _G.printError
+local turtle     = _G.turtle
+
+if not turtle then
+  error('Can only be run on a turtle')
+end
+
+local blocks = { }
+local items = { }
+
+local locations = Util.readTable('/usr/config/pickup') or {
+  pickups = { },
+  cells = { },
+  refills = { },
+  fluids = { },
+}
+
+local fuel = {
+  item = {
+    name = 'minecraft:coal',
+    damage = 0,
+  },
+  qty = 64
+}
+
+local slots
+
+turtle.setMoveCallback(function()
+  if slots then
+    for _,slot in pairs(slots) do
+      if turtle.getItemCount(slot.index) ~= slot.qty then
+        printError('Slots changed')
+        Event.exitPullEvents()
+      end
+    end
+  end
+end)
+
+local function gotoPoint(pt, doDetect)
+  slots = turtle.getInventory()
+  while not turtle.pathfind(pt, { blocks = blocks }) do
+    if turtle.isAborted() then
+      error('aborted')
+    end
+    turtle.setStatus('blocked')
+    os.sleep(5)
+  end
+
+  if doDetect and not turtle.detectDown() then
+    printError('Missing target')
+    Event.exitPullEvents()
+  end
+end
+
+local function dropOff(pt)
+  if turtle.selectSlotWithItems() then
+    gotoPoint(pt, true)
+    turtle.emptyInventory(turtle.dropDown)
+    if pt == locations.dropPt then
+      print('refreshing items')
+      local chestAdapter = ChestAdapter()
+      items = chestAdapter:refresh()
+    end
+  end
+end
+
+local function refuel()
+  if turtle.getFuelLevel() < 5000 and locations.dropPt then
+    print('refueling')
+    turtle.setStatus('refueling')
+    gotoPoint(locations.dropPt, true)
+    dropOff(locations.dropPt)
+    local chestAdapter = ChestAdapter({
+        wrapSide = 'bottom',
+        direction = 'up',
+      })
+    while turtle.getFuelLevel() < 5000 do
+      turtle.select(1)
+      chestAdapter:provide(fuel.item, fuel.qty, 1)
+      turtle.refuel(64)
+      print(turtle.getFuelLevel())
+      os.sleep(1)
+    end
+  end
+end
+
+local function pickUp(pt)
+  turtle.setStatus('picking up')
+  gotoPoint(pt, true)
+  while true do
+    if not turtle.selectOpenSlot() then
+      dropOff(locations.dropPt)
+      gotoPoint(pt, true)
+    end
+    turtle.select(1)
+    if not turtle.suckDown(64) then
+      return
+    end
+  end
+end
+
+local function checkCell(pt)
+  if not turtle.selectOpenSlot() then
+    dropOff(locations.dropPt)
+  end
+
+  print('checking cell')
+  turtle.setStatus('recharging')
+  gotoPoint(pt, true)
+  local c = peripheral.wrap('bottom')
+  local energy = c.getMaxEnergyStored() -
+      c.getEnergyStored()
+  if energy > 20000 then
+    print('charging cell')
+    turtle.selectOpenSlot()
+    turtle.digDown()
+    gotoPoint(locations.chargePt, true)
+    turtle.dropDown()
+    os.sleep(energy / 20000)
+    turtle.suckDown()
+    print('replacing cell')
+    gotoPoint(pt)
+    if not turtle.placeDown() then
+      error('could not place down cell')
+    end
+  end
+end
+
+local function fluid(points)
+  print('checking fluid')
+  turtle.setStatus('fluiding')
+  gotoPoint(points.source, true)
+  turtle.select(1)
+  turtle.digDown()
+  gotoPoint(points.target)
+  if not turtle.placeDown() then
+    error('could not place fluid container')
+  end
+  os.sleep(5)
+  turtle.digDown()
+  gotoPoint(points.source)
+  turtle.placeDown()
+end
+
+local function refill(entry)
+  dropOff(locations.dropPt)
+
+  turtle.setStatus('refilling')
+  gotoPoint(locations.dropPt)
+  local chestAdapter = ChestAdapter()
+  for _,item in pairs(entry.items) do
+    chestAdapter:provide(item, tonumber(item.qty), turtle.selectOpenSlot())
+  end
+
+  if turtle.selectSlotWithItems() then
+    if entry.point then
+      dropOff(entry.point)
+    end
+  end
+end
+
+local function makeKey(pt)
+  return string.format('%d:%d:%d', pt.x, pt.y, pt.z)
+end
+
+local function pickupHost(socket)
+
+  while true do
+    local data = socket:read()
+    if not data then
+      print('pickup: closing connection to ' .. socket.dhost)
+      return
+    end
+
+    print('command: ' .. data.type)
+
+    if data.type == 'pickup' then
+      local key = makeKey(data.point)
+      locations.pickups[key] = data.point
+      Util.writeTable('/usr/config/pickup', locations)
+      socket:write( { type = "response", response = 'added' })
+
+    elseif data.type == 'items' then
+      socket:write( { type = "response", response = items })
+
+    elseif data.type == 'refill' then
+      local key = makeKey(data.entry.point)
+      locations.refills[key] = data.entry
+      Util.writeTable('/usr/config/pickup', locations)
+      socket:write( { type = "response", response = 'added' })
+
+    elseif data.type == 'setPickup' then
+      locations.dropPt = data.point
+      Util.writeTable('/usr/config/pickup', locations)
+      socket:write( { type = "response", response = 'Location set' })
+
+    elseif data.type == 'setRecharge' then
+      locations.chargePt = data.point
+      Util.writeTable('/usr/config/pickup', locations)
+      socket:write( { type = "response", response = 'Location set' })
+
+    elseif data.type == 'charge' then
+      local key = makeKey(data.point)
+      locations.cells[key] = data.point
+      Util.writeTable('/usr/config/pickup', locations)
+      socket:write( { type = "response", response = 'added' })
+
+    elseif data.type == 'clear' then
+      local key = makeKey(data.point)
+      locations.refills[key] = nil
+      locations.cells[key] = nil
+      locations.fluids[key] = nil
+      locations.pickups[key] = nil
+
+      Util.writeTable('/usr/config/pickup', locations)
+
+      socket:write( { type = "response", response = 'cleared' })
+    else
+      print('unknown command')
+    end
+  end
+end
+
+if device.wireless_modem then
+  Event.addRoutine(function()
+    while true do
+      print('waiting for connection on port 5222')
+      local socket = Socket.server(5222)
+
+      print('pickup: connection from ' .. socket.dhost)
+
+      Event.addRoutine(function() pickupHost(socket) end)
+    end
+  end)
+end
+
+local function eachEntry(t, fn)
+
+  local keys = Util.keys(t)
+  for _,key in pairs(keys) do
+    if t[key] then
+      if turtle.isAborted() then
+        return
+      end
+      fn(t[key])
+    end
+  end
+end
+
+local function eachClosestEntry(t, fn)
+
+  local points = { }
+  for k,v in pairs(t) do
+    v = Util.shallowCopy(v)
+    v.key = k
+    table.insert(points, v)
+  end
+
+  while not Util.empty(points) do
+    local closest = Point.closest(turtle.point, points)
+    if turtle.isAborted() then
+      return
+    end
+    if t[closest.key] then
+      fn(closest)
+    end
+    for k,v in pairs(points) do
+      if v.key == closest.key then
+        table.remove(points, k)
+        break
+      end
+    end
+  end
+end
+
+Event.addRoutine(function()
+  if not turtle.enableGPS() then
+    error('turtle: No GPS found')
+  end
+
+  refuel()
+
+  while true do
+    if locations.dropPt then
+      eachClosestEntry(locations.pickups, pickUp)
+      eachEntry(locations.refills, refill)
+      refuel()
+    end
+    dropOff(locations.dropPt)
+    eachEntry(locations.fluids, fluid)
+    if locations.chargePt then
+      eachEntry(locations.cells, checkCell)
+    end
+    print('sleeping')
+    turtle.setStatus('sleeping')
+    if turtle.isAborted() then
+      printError('aborted')
+      break
+    end
+    os.sleep(60)
+  end
+
+  Event.exitPullEvents()
+end)
+
+turtle.run(function()
+
+  Event.pullEvents()
+
+end)